Driving module, motion assistance apparatus including the driving module, and method of controlling the motion assistance apparatus

ABSTRACT

Driving modules, motion assistance apparatuses including at least one of the driving modules, and methods of controlling at least one of the motion assistance apparatuses may be provided. For example, a driving module including a driving source on one side of a user and configured to transmit power, an input side rotary body coupled to the driving source and configured to rotate, first and second decelerators configured to operate using the power respectively received from the driving source through the input side rotary body, and a first stopper and a second stopper configured to selectively enable or disable a transmission of the power between the input side rotary body and respective output terminals of the first and second decelerators may be provided.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a divisional of U.S. application Ser. No.14/593,680, filed on Jan. 9, 2015, which claims priority under 35 U.S.C.§ 119 to Korean Patent Application No. 10-2014-0101689, filed on Aug. 7,2014, in the Korean Intellectual Property Office, the disclosure of eachof which is incorporated herein by reference in its entirety.

BACKGROUND 1. Field

Example embodiments relate to driving modules, motion assistanceapparatuses including the driving modules, and/or methods of controllingthe motion assistance apparatuses.

2. Description of the Related Art

With the onset of rapidly aging societies, many people are experiencinginconvenience and/or pain from joint problems, and interest in motionassistance apparatuses, which enable the elderly or patients with jointproblems to walk with less effort, is growing. Furthermore, motionassistance apparatuses for intensifying muscular strength of humanbodies may be useful for military purposes.

In general, motion assistance apparatuses for assisting motion of lowerparts of bodies may include body frames disposed on trunks of users,pelvic frames coupled to lower sides of the body frames to coverpelvises of the users, femoral frames disposed on thighs of the users,sural frames disposed on calves of the users, and/or pedial framesdisposed on feet of the users. The pelvic frames and femoral frames maybe connected rotatably by hip joint portions, the femoral frames andsural frames may be connected rotatably by knee joint portions, and/orthe sural frames and pedial frames may be connected rotatably by anklejoint portions.

The motion assistance apparatuses may include active joint structuresincluding hydraulic systems and/or driving motors to drive each jointportion to improve muscular strength of legs of the users. For example,two individual motors to transmit driving power may be provided at leftand right hip joint portions, respectively.

SUMMARY

At least one example embodiment relates to a driving module.

According to an example embodiment, a driving module includes a drivingsource on one side of a user and configured to transmit power, an inputside rotary body connected to the driving source and configured torotate, first and second decelerators configured to operate using thepower received from the driving source through the input side rotarybody, and a first stopper and a second stopper configured to selectivelyenable or disable a transmission of the power between the input siderotary body and respective output terminals of the first and seconddecelerators.

According to some example embodiments, each of the decelerators mayinclude a planet gear connected to an outer circumferential surface ofthe input side rotary body and configured to at least one of rotate withrespect to an axis of rotation thereof or revolve around the input siderotary body using the power from the input side rotary body, a carrierconnected to the axis of rotation of the planet gear and configured torotate when the planet gear revolves around the input side rotary body,a ring gear including an inner circumferential surface, the innercircumferential surface configured to be connected to the planet gear,and a pulley configured to act as the output terminal of the each of thefirst and second decelerators, the pulley including an outercircumferential surface over which a power transmitting memberconfigured to transmit the power from the input side rotary body toanother member connected to the driving module is to be wound.

According to some example embodiments, the pulley of the firstdecelerator may be configured to be connected to the carrier of thefirst decelerator and rotate when the carrier of the first deceleratorrotates, and the first stopper may be configured to be selectivelyconnected to the ring gear of the first decelerator to enable or disablerotation of the ring gear of the first decelerator.

According to some example embodiments, the pulley of the firstdecelerator and the carrier of the first decelerator may be provided asan integral body such that the pulley of the first decelerator isdefined along an outer circumferential surface of the carrier of thefirst decelerator.

According to some example embodiments, the ring gear of a firstdecelerator of the decelerators may include a first compound ring gearincluding a tooth having a steeper slope in a first direction than aslope in a second direction, with respect to a rotation direction of thering gear, and a second compound ring gear including a tooth having agentler slope in the first direction than a slope in the seconddirection, and the first stopper including a first compound stoppercorresponding to the first compound ring gear and a second compoundstopper corresponding to the second compound ring gear.

According to some example embodiments, the pulley of the firstdecelerator may be configured to be connected to the ring gear of thefirst decelerator and rotate when the ring gear of the first deceleratorrotates, and the first stopper may be configured to be selectivelyconnected to the carrier of the first decelerator to enable or disablerevolution of the planet gear of the first decelerator.

At least one example embodiment relates to a driving module.

According to an example embodiment, a driving module includes a firstrotary body connected to a driving source and configured to transmitpower, a second rotary body engaged with the first rotary body andconfigured to rotate, a third rotary body engaged with the second rotarybody and configured to rotate, a fourth rotary body connected to an axisof rotation of the second rotary body and configured to rotate when thesecond rotary body revolves around the first rotary body, a fifth rotarybody engaged with the first rotary body and configured to rotate, asixth rotary body engaged with the fifth rotary body and configured torotate, and a seventh rotary body connected to an axis of rotation ofthe fifth rotary body, and configured to rotate when the fifth rotarybody revolves around the first rotary body.

According to some example embodiments, the driving module furtherincludes a first stopper configured to be selectively connected to atleast one of the third rotary body and the fourth rotary body, and asecond stopper configured to be selectively connected to at least one ofthe sixth rotary body and the seventh rotary body.

At least one example embodiment relates to a motion assistanceapparatus.

According to an example embodiment, a motion assistance apparatusincludes a fixing member configured to be fixed to a user, a drivingmodule on one side of the fixing member, the driving module including adriving source configured to transmit power, a first deceleratorconfigured to operate based on the power received from the drivingsource, and a second decelerator configured to operate based on thepower received from the driving source, a first joint member and asecond joint member configured to assist respective rotary motions, afirst power transmitting member configured to transmit the power betweenan output terminal of the first decelerator and the first joint member,a second power transmitting member configured to transmit the powerbetween an output terminal of the second decelerator and the secondjoint member, and a stopper module configured to selectively enable ordisable a transmission of the power between the driving source and atleast one of the first joint member and the second joint member.

According to some example embodiments, the stopper module may include afirst stopper configured to be engaged with a portion of the firstdecelerator and configured to selectively enable or disable thetransmission of the power between the driving source and the first powertransmitting member, and a second stopper configured to be engaged witha portion of the second decelerator to selectively enable or disable thetransmission of the power between the driving source and the secondpower transmitting member.

According to some example embodiments, the first decelerator may includea first planet gear connected to the driving source, a first ring gearconnected to the first planet gear, and a first pulley configured to actas the output terminal of the first decelerator, and be wound by thefirst power transmitting member, and the second decelerator may includea second planet gear connected to the driving source, a second ring gearconnected to the second planet gear, and a second pulley configured toact as the output terminal of the second decelerator and be wound by thesecond power transmitting member.

According to some example embodiments, the first power transmittingmember and the second power transmitting member may be asymmetricallyprovided to each other with respect to the driving module.

According to some example embodiments, when seeing from a side of themotion assistance apparatus, the first power transmitting member may beprovided in an overlapping manner between the first pulley and the firstjoint member to enable the first pulley and the first joint member tohave opposite rotation directions, and the second power transmittingmember may be provide in a non-overlapping manner between the secondpulley and the second joint member to enable the second pulley and thesecond joint member to have identical rotation directions.

According to some example embodiments, the first pulley may be connectedto a first carrier of the first decelerator and be configured to rotatewhen the first carrier rotates, and the second pulley may be coupled toa second carrier of the second decelerator and is configured to rotatewhen the second carrier rotates, the first may be selectively connectedto the first ring gear to enable or disable a rotation of the first ringgear, and the second stopper may be selectively engaged with the secondring gear to enable or disable rotation of the second ring gear.

According to some example embodiments, the first pulley may be coupledwith the first ring gear and be configured to rotate when the first ringgear rotates, the second pulley may be coupled with the second ring gearand configured to rotate when the second ring gear rotates, the firstmay be selectively connected to a first carrier of the first deceleratorto enable or disable a rotation of the first carrier, and the secondstopper may be selectively coupled with a second carrier of the seconddecelerator to enable or disable a rotation of the second carrier.

According to some example embodiments, the first power transmittingmember and the second power transmitting member may be symmetricallyprovided to each other with respect to the driving module.

According to some example embodiments, the first pulley and the firstring gear may be configured to perform a single rigid body motion, thefirst stopper may be selectively connected to a first carrier of thefirst decelerator and be configured to enable or disable a rotation ofthe first carrier, the second pulley and a second carrier of the seconddecelerator may be configured to perform a single rigid body motion w,and the second stopper may be selectively connected to the second ringgear and be configured to enable or disable a rotation of the secondcarrier.

At least one example embodiment relates to a motion assistanceapparatus.

According to an example embodiment, a motion assistance apparatusincludes a fixing member configured to be fixed to a user, a drivingmodule including a driving source configured to transmit driving power,and a first decelerator and a second decelerator connected to thedriving source, a first joint member and a second joint memberconfigured to assist, based on the driving power from the drivingsource, respective rotary motions of both legs of the user,respectively, a first power transmitting member connected to an outputterminal of the first decelerator and the first joint member, a secondpower transmitting member connected to an output terminal of the seconddecelerator and the second joint member, and a first stopper and asecond stopper configured to enable or disable at least one of atransmission of the first power between the driving source and the firstjoint member and a transmission of the second power between the drivingsource and the second joint member, respectively.

According to some example embodiments, when the first stopper and thesecond stopper alternately operate while the driving source is rotatingin one direction, the first joint member and the second joint member mayalternately rotate, and both legs of the user may be alternately movedforward.

According to some example embodiments, when the first stopper and thesecond stopper simultaneously operate while the driving source isrotating in one direction, the first joint member and the second jointmember may rotate in identical directions, and both legs of the user maybe simultaneously moved forward or backward.

According to some example embodiments, when the first stopper and thesecond stopper do not operate, the first joint member and the secondjoint member may freely rotate.

At least one example embodiment relates to an apparatus.

According to an example embodiment, a motion assistance apparatusincludes a fixing member configured to be fixed to a user, a drivingmodule on one side of the fixing member, the driving module including adriving source configured to transmit driving power, a first deceleratorconfigured to operate using the driving power received from the drivingsource, and a second decelerator configured to operate using the drivingpower received from the driving source, a first supporting member and asecond supporting member configured to support a first portion of theuser and a second portion of the user, respectively, a first powertransmitting member configured to transmit a first power between anoutput terminal of the first decelerator and the first supportingmember, a second power transmitting member configured to transmit asecond power between an output terminal of the second decelerator andthe second supporting member, and a stopper configured to enable ordisable at least one of a transmission of the first power between thedriving source and the first supporting member and a transmission of thesecond power between the driving source and the second supportingmember.

At least one example embodiment relates to a method of controlling amotion assistance apparatus.

According to an example embodiment, a method of controlling a motionassistance apparatus including a fixing member configured to be fixed toa user, a driving source, and a first joint member and a second jointmember configured to assist, based on power from the driving source, arotary motion of a first portion of the user and a rotary motion of asecond portion of the user, respectively, includes transmitting thepower to a first decelerator and a second decelerator connected to thedriving source by rotating the driving source in one direction,selectively connecting a first stopper to a portion of the firstdecelerator to enable or disable a transmission of rotary power betweenthe driving source and the first joint member, and selectivelyconnecting a second stopper to a portion of the second decelerator toenable or disable a transmission of rotary power between the drivingsource and the second joint member.

According to some example embodiments, the selectively connecting afirst stopper and the selectively connecting a second stopper may bealternately performed.

According to some example embodiments, the selectively connecting afirst stopper and the selectively connecting a second stopper may besimultaneously performed.

According to some example embodiments, the method further includesseparating the first stopper from the portion of the first decelerator,and separating the second stopper from the portion of the seconddecelerator. The separating of the first stopper and the separating ofthe second stopper may be simultaneously performed.

Additional aspects of example embodiments will be set forth in part inthe description which follows and, in part, will be apparent from thedescription, or may be learned by practice of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects of example embodiments will become apparentand more readily appreciated from the following description of someexample embodiments, taken in conjunction with the accompanying drawingsof which:

FIG. 1 is a front view illustrating a motion assistance apparatusaccording to an example embodiment;

FIG. 2 is a left side view illustrating a motion assistance apparatusaccording to an example embodiment;

FIG. 3 is a right side view illustrating a motion assistance apparatusaccording to an example embodiment;

FIG. 4 is a block diagram illustrating a driving module according to anexample embodiment;

FIG. 5 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment;

FIG. 6 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment;

FIG. 7A illustrates an operation of a first decelerator associated witha forward movement of a first supporting module viewed from a front ofFIG. 1 , and FIG. 7B illustrates a forward movement of the firstsupporting module 50, viewed from a right side of FIG. 1 , according toan example embodiment;

FIG. 8A illustrates an operation of a second decelerator, viewed fromthe front of FIG. 1 , when a second supporting module makes a forwardmovement, and FIG. 8B illustrates an operation of the second supportingmodule, viewed from a left side of FIG. 1 , when the second supportingmodule makes the forward movement according to an example embodiment;

FIG. 9 is a view illustrating a ring gear and a stopper according to anexample embodiment;

FIG. 10 is a view illustrating a ring gear and a stopper according to anexample embodiment;

FIG. 11 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment;

FIG. 12 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment;

FIG. 13A illustrates an operation of a first decelerator associated witha forward movement of a first supporting module, viewed from a front ofFIGS. 1, and 13B illustrate an operation of a first supporting module,viewed from a right side of FIG. 1 , according to an example embodiment;

FIG. 14A illustrates an operation of a second decelerator associatedwith a forward movement of a second supporting module, viewed from thefront of FIG. 1 , and FIG. 14B illustrates a forward movement operationof a second supporting module, viewed from a left side of FIG. 1 ,according to an example embodiment;

FIG. 15 is a rear perspective view illustrating a driving moduleaccording to an example embodiment;

FIG. 16 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment;

FIG. 17 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment;

FIG. 18 is a block diagram illustrating a motion assistance apparatusaccording to example embodiments;

FIG. 19 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment;

FIGS. 20A and 20B are views illustrating operations of a driving module,a first supporting module, and a second supporting module when a firstcarrier and a second carrier are fixed to each other according to anexample embodiment;

FIGS. 21A and 21B are views illustrating operations of a driving module,a first supporting module, and a second supporting module when power ofa driving source is applied according to an example embodiment;

FIGS. 22A and 22B are views illustrating operations of a driving module,a first supporting module, and a second supporting module when power ofa driving source is blocked according to an example embodiment;

FIG. 23 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment;

FIG. 24 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment;

FIGS. 25A and 25B are views illustrating operations of a driving module,a first supporting module, and a second supporting module when a firstring gear and a second ring gear are fixed to each other according to anexample embodiment;

FIGS. 26A and 26B are views illustrating operations of a driving module,a first supporting module, and a second supporting module when power ofa driving source is applied according to an example embodiment; and

FIGS. 27A and 27B are views illustrating operations of a driving module,a first supporting module, and a second supporting module when power ofa driving source is blocked according to an example embodiment.

DETAILED DESCRIPTION

Various example embodiments will now be described more fully withreference to the accompanying drawings. Example embodiments, however,may be embodied in many different forms and should not be construed asbeing limited to the example embodiments set forth herein. Rather, theseexample embodiments are provided so that this disclosure will bethorough and complete, and will fully convey the scope of exampleembodiments to those skilled in the art. In the drawings, thethicknesses of layers and regions may be exaggerated for clarity.

It will be understood that when an element is referred to as being “on,”“connected to,” “electrically connected to,” or “coupled to” to anothercomponent, it may be directly on, connected to, electrically connectedto, or coupled to the other component or intervening components may bepresent. In contrast, when a component is referred to as being “directlyon,” “directly connected to,” “directly electrically connected to,” or“directly coupled to” another component, there are no interveningcomponents present. As used herein, the term “and/or” includes any andall combinations of one or more of the associated listed items.

It will be understood that although the terms first, second, third,etc., may be used herein to describe various elements, components,regions, layers, and/or sections, these elements, components, regions,layers, and/or sections should not be limited by these terms. Theseterms are only used to distinguish one element, component, region,layer, and/or section from another element, component, region, layer,and/or section. For example, a first element, component, region, layer,and/or section could be termed a second element, component, region,layer, and/or section without departing from the teachings of exampleembodiments.

Spatially relative terms, such as “beneath,” “below,” “lower,” “above,”“upper,” and the like may be used herein for ease of description todescribe the relationship of one component and/or feature to anothercomponent and/or feature, or other component(s) and/or feature(s), asillustrated in the drawings. It will be understood that the spatiallyrelative terms are intended to encompass different orientations of thedevice in use or operation in addition to the orientation depicted inthe figures.

The terminology used herein is for the purpose of describing particularexample embodiments only and is not intended to be limiting of exampleembodiments. As used herein, the singular forms “a,” “an,” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise. It will be further understood that the terms“comprises,” “comprising,” “includes,” and/or “including,” when used inthis specification, specify the presence of stated features, integers,steps, operations, elements, and/or components, but do not preclude thepresence or addition of one or more other features, integers, steps,operations, elements, components, and/or groups thereof.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which example embodiments belong. Itwill be further understood that terms, such as those defined in commonlyused dictionaries, should be interpreted as having a meaning that isconsistent with their meaning in the context of the relevant art andshould not be interpreted in an idealized or overly formal sense unlessexpressly so defined herein.

Reference will now be made to example embodiments, which are illustratedin the accompanying drawings, wherein like reference numerals may referto like components throughout.

A motion assistance apparatus according to example embodiments to bedescribed hereinafter may simultaneously drive a plurality of supportingmodules using a single driving source. The motion assistance apparatusmay enable the plurality of supporting modules to have differentrelative positions using the single driving source.

According to an example embodiment, using a device configured toselectively apply or block power to be transmitted between the singledriving source and the plurality of supporting modules, the plurality ofsupporting modules may have different relative positions.

According to an example embodiment, by setting different gear ratios ofpower to be transmitted between the single driving source and theplurality of supporting modules, the plurality of supporting modules mayhave different relative positions.

FIGS. 1 through 3 illustrate a motion assistance apparatus common tovarious example embodiments. FIGS. 4 through 14B illustrate some exampleembodiments including a device configured to selectively apply or blockpower to be transmitted between a single driving source and a pluralityof supporting modules. FIGS. 15 through 27B illustrate some exampleembodiments in which different gear ratios are set with respect to powerto be transmitted between a single driving source and a plurality ofsupporting modules. Hereinafter, example embodiments will be describedwith reference to the drawings.

FIG. 1 is a front view illustrating a motion assistance apparatusaccording to an example embodiment, FIG. 2 is a left side viewillustrating the motion assistance apparatus according to an exampleembodiment, and FIG. 3 is a right side view illustrating the motionassistance apparatus according to an example embodiment.

Referring to FIGS. 1 through 3 , a motion assistance apparatus 10 may beworn by a user to assist a motion of the user.

The user may correspond to a human, an animal, or a robot. However, theuser is not limited thereto. Further, although FIG. 1 illustrates a casein which the motion assistance apparatus 10 assists a motion of a thighof the user, the motion assistance apparatus 10 may also assist a motionof another part of an upper body (e.g., a hand, an upper arm, or a lowerarm) of the user, or a motion of another part of a lower body (e.g., afoot or a calf) of the user. The motion assistance apparatus 10 mayassist a motion of a part of the user.

Hereinafter, a case in which the motion assistance apparatus 10 assistsa motion of a thigh of a human will be described.

The motion assistance apparatus 10 includes a fixing member 20, adriving module 90, a controller 30, a first power transmitting member40, a second power transmitting member 60, and a plurality of supportingmodules including a first supporting module 50 and a second supportingmodule 70.

The fixing member 20 may be fixed to the user. The fixing member 20 maybe in contact with at least a portion of an outer surface of the user.The fixing member 20 may be provided to cover the outer surface of theuser. The fixing member 20 may be curved to conform to a contact portionof the user. The fixing member 20 may include a curved surface to be incontact with the user. For example, the fixing member 20 may be fixed toone side of a waist of the user.

The driving module 90 may transmit power of a single driving source tothe first supporting module 50 and the second supporting module 70. Thedriving module 90 may be provided on one side of the fixing member 20.For example, referring to FIG. 1 , the driving module 90 may be providedon a rear side of the fixing member 20. The driving module 90 may beprovided on an upper side of the fixing member 20. The driving module 90may be disposed to be spaced apart from the first supporting module 50and the second supporting module 70. The driving module 90 may bedisposed on an opposite side of the first supporting module 50 and thesecond supporting module 70 with respect to the fixing member 20.According to the foregoing structure, a volume of a product to bedisposed on a joint portion may be reduced. However, a position of thedriving module 90 is not limited thereto. The driving module 90 will bedescribed in detail later.

The controller 30 may control the driving module 90 to transmit power tothe first supporting module 50 and the second supporting module 70. Thecontroller 30 may be provided on one side of the fixing member 20. Forexample, referring to FIG. 1 , the controller 30 may be provided on therear side of the fixing member 20. The controller 30 may be provided onthe upper side of the fixing member 20. However, a position of thecontroller 30 is not limited thereto.

The first power transmitting member 40 may be disposed between thedriving module 90 and the first supporting module 50, and the secondpower transmitting member 60 may be disposed between the driving module90 and the second supporting module 70. The first power transmittingmember 40 may transmit power from the driving module 90 to the firstsupporting module 50, and the second power transmitting member 60 maytransmit power from the driving module 90 to the second supportingmodule 70. The first power transmitting member 40 and the second powertransmitting member 60 may respectively transmit power using, forexample, a pushing or pulling force, or transmit power using africtional force, a tensile force, or an elastic force. For example, thefirst power transmitting member 40 and the second power transmittingmember 60 may respectively include, for example, a wire, a cable, astring, a rubber band, a spring, a belt, and a chain.

For example, power input terminals of the first power transmittingmember 40 and the second power transmitting member 60 may be connectedto the driving module 90, and power output terminals of the first powertransmitting member 40 and the second power transmitting member 60 maybe connected to a first joint assembly 42 connected to the firstsupporting module 50 and a second joint assembly 62 connected to thesecond supporting module 70, respectively.

The first joint assembly 42 may transmit power between the first powertransmitting member 40 and the first supporting module 50, and thesecond joint assembly 62 may transmit power between the second powertransmitting member 60 and the second supporting module 70. The firstjoint assembly 42 may be connected to the first power transmittingmember 40 and the first supporting module 50, and the second jointassembly 62 may be connected to the second power transmitting member 60and the second supporting module 70.

The first joint assembly 42 includes a first joint member 44, and afirst connecting member 46.

The first joint member 44 may be configured to rotate using powerreceived from the first power transmitting member 40. The first jointmember 44 may be disposed on one side of a hip joint of the user. Thefirst joint member 44 may also be referred to as a “hip joint assistancemember.”

The first connecting member 46 may connect the first joint member 44 tothe first supporting module 50. One side of the first connecting member46 may be connected to the first joint member 44, and another side ofthe first connecting member 46 may be connected to the first supportingmodule 50.

The first connecting member 46 may be configured to rotate using torqueof the first joint member 44. The first connecting member 46 may befastened with the first joint member 44 by a separate fastening member,or the first connecting member 46 and the first joint member 44 may beprovided as an integral body.

The other side of the first connecting member 46 may be hinge-connectedto the first supporting module 50. The other side of the firstconnecting member 46 and the first supporting module 50 may be connectedto each other using a hinge connection structure. A hinge axis of thehinge connection structure may intersect an axis of rotation of thefirst joint member 44. For example, the hinge axis of the hingeconnection structure and the axis of rotation of the first joint member44 may be orthogonal to each other. Thus, the first supporting module 50may perform a two degree of freedom motion with respect to the fixingmember 20 by the hinge axis and the axis of rotation.

Similar to the first joint assembly 42, the second joint assembly 62includes a second joint member 64, and a second connecting member 66.Detailed descriptions of the second joint member 64 and the secondconnecting member 66 will be omitted for conciseness.

The first power transmitting member 40 may transmit power from thedriving module 90 to the first supporting module 50, and the secondpower transmitting member 60 may transmit power from the driving module90 to the second supporting module 70.

The first power transmitting member 40 and the second power transmittingmember 60 may be asymmetrically provided to each other with respect tothe driving module 90.

For example, the first power transmitting member 40 may be provided inan overlapping manner, when seeing from a side of the motion assistanceapparatus 10, between the driving module 90 and the first supportingmodule 50. By contrast, the second power transmitting member 60 may beprovided in a non-overlapping manner, when seeing from a side of themotion assistance apparatus 10, between the driving module 90 and thesecond supporting module 70. As shown in FIG. 2 , the first powertransmitting member 40 may be provided in a “shape of X” to, and asshown in FIG. 3 , the second power transmitting member 40 may beprovided in parallel to each other, for example, in a “shape of II”.

Referring to FIG. 2 , a first portion of the first power transmittingmember 40 may be connected to an upper side of the driving module 90 anda rear portion of the first supporting module 50. A second portion ofthe first power transmitting member 40 may be connected to a lower sideof the driving module 90 and a front portion of the first supportingmodule 50. In this example, the first portion and the second portion ofthe first power transmitting member 40 may be provided to cross eachother when seeing from a side of the motion assistance apparatus 10.

Referring to FIG. 3 , a first portion of the second power transmittingmember 60 may be connected to the upper side of the driving module 90and a front portion of the second supporting module 70. A second portionof the second power transmitting member 60 may be connected to the lowerside of the driving module 90 and a rear portion of the secondsupporting module 70. In this example, the first portion and the secondportion of the second power transmitting member 60 may be provided tonot cross each other when seeing from a side of the motion assistanceapparatus 10. The first portion and the second portion of the secondpower transmitting member 60 may be provided to be parallel to eachother.

Accordingly, the first power transmitting member 40 may enable tworotary bodies connected thereto to have opposite rotation directions,and the second power transmitting member 60 may enable two rotary bodiesconnected thereto to have identical rotation directions.

The disposition of the first power transmitting member 40 and the secondpower transmitting member 60 is not limited thereto. Both of the firstpower transmitting member 40 and the second power transmitting member 60may be provided such that the first and second portions of therespective power transmitting members are provided to cross each other,or are provided to not cross each other.

A shield 48 may be provided on one side of the first power transmittingmember 40 to cover at least a portion of the first power transmittingmember 40, and a shield 68 may be provided on one side of the secondpower transmitting member 60 to cover at least a portion of the secondpower transmitting member 60. The shields 48 and 68 may be disposed onboth sides of the fixing member 20, respectively. The first powertransmitting member 40 may pass through the shield 48 to be connected tothe first supporting module 50, and the second power transmitting member60 may pass through the shield 68 to be connected to the secondsupporting module 70. The shield 48 may prevent or mitigate an externalexposure of a portion of the first power transmitting member 40, and theshield 68 may prevent an external exposure of a portion of the secondpower transmitting member 60. Through the shields 48 and 68, the firstpower transmitting member 40 and the second power transmitting member 60may operate without being obstructed by clothing while the user iswearing the clothing over the shields 48 and 68. The shields 48 and 68may respectively include a hanging recess for hanging a waist band ofthe clothing.

Tubes may be provided in external portions of the first powertransmitting member 40 and the second power transmitting member 60,respectively. The tubes may guide the first power transmitting member 40and the second power transmitting member 60. The tubes may be disposedbetween the driving module 90 and the first supporting module 50, andbetween the driving module 90 and the second supporting module 70,respectively. Through the tubes, the first power transmitting member 40and the second power transmitting member 60 may operate without beingobstructed by clothing while the user is wearing the clothing over thetubes. The tubes may be formed of a flexible material (e.g., rubber andsilicone), or a rigid material (e.g., plastic and steel). The tubes mayprevent a direct contact between the first power transmitting member 40and the user and a direct contact between the second power transmittingmember 60 and the user, thereby increasing a wearability.

The first supporting module 50 and the second supporting module 70 maysupport portions of the user. The first supporting module 50 and thesecond supporting module 70 may assist motions of the portions of theuser. The first supporting module 50 and the second supporting module 70may rotate using power received from the first power transmitting member40 and the second power transmitting member 60, respectively. Torque ofthe first supporting module 50 and torque of the second supportingmodule 70 may be transmitted to the portions of the user to assist themotions of the portions of the user.

The first supporting module 50 may support a portion of the user, andthe second supporting module 70 may support another portion of the user.

For example, the first supporting module 50 may support a right leg ofthe user, and the second supporting module 70 may support a left leg ofthe user.

The first supporting module 50 includes a first supporting frame 52, afirst pressurizing member 54, and a first supporting member 56.

The first supporting frame 52 may be rotatably connected to the firstjoint assembly 42.

The first pressurizing member 54 may be connected to one side of thefirst supporting frame 52. For example, the first pressurizing member 54may be disposed on one side of the right leg of the user to push or pulla right thigh of the user. The first pressurizing member 54 may bedisposed on a front surface of the right thigh of the user.

The first supporting member 56 may be connected to one side of the firstpressurizing member 54. For example, the first supporting member 56 maybe disposed to cover a circumference of at least a portion of the rightthigh of the user to prevent a separation between the right thigh of theuser and the first supporting frame 52. The first supporting member 56may be disposed on an opposite side of the first pressurizing member 54with respect to the right thigh of the user.

Similar to the first supporting module 50, the second supporting module70 includes a second supporting frame 72, a second pressurizing member74, and a second supporting member 76. Detailed descriptions of thesecond supporting frame 72, the second pressurizing member 74, and thesecond supporting member 76 will be omitted for conciseness.

The first joint assembly 42, the second joint member 62, the firstsupporting frame 52, and the second supporting frame 72 may be omitted.Accordingly, the first power transmitting member 40 may connect thedriving module 90 directly to the first supporting member 56, and thesecond transmitting member 60 may connect the driving module 90 directlyto the second supporting member 76. The first power transmitting member40 may move the first supporting member 56 by directly pushing orpulling the first supporting member 56, and the second powertransmitting member 60 may move the second supporting member 76 bydirectly pushing or pulling the second supporting member 76.

FIG. 4 is a block diagram illustrating a driving module according to anexample embodiment.

Referring to FIG. 4 , the driving module 90 includes a driving source920, an input side rotary body 930, and two decelerators, which includea first decelerator 940 and a second decelerator 960, configured toreceive power from the input side rotary body 930 and transmit the powerto the first supporting module 50 and the second supporting module 70,respectively.

For example, the first decelerator 940 and the second decelerator 960may use a three (3)-port system, which includes a single input terminaland two output terminals. The first decelerator 940 includes a firstconnecting rotary body 942, a first ring member 946, and a first pulley948, and the second decelerator 960 includes a second connecting rotarybody 962, a second ring member 966, and a second pulley 968. The firstpulley 948 may be connected to the first connecting rotary body 942 orthe first ring member 946 to transmit power to the first supportingmodule 50, and the second pulley 968 may be connected to the secondconnecting rotary body 962 or the second ring member 966 to transmitpower to the second supporting module 70.

The first decelerator 940 and the second decelerator 960 configured bythe 3-port system are described. However, types of the first decelerator940 and the second decelerator 960 are not limited thereto. For example,when the first decelerator 940 and the second decelerator 960 transmitpower in a structure of toothed gears, the input side rotary body 930,the first and second connecting rotary bodies 942 and 962, and the firstand second ring members 946 and 966 may correspond to a “linear gear”,“planet gears”, and “ring gears”, respectively. For example, when thefirst decelerator 940 and the second decelerator 960 transmit power byrolling friction, the input side rotary body 930, the first and secondconnecting rotary bodies 942 and 962, and the first and second ringmembers 946 and 966 may correspond to a “primary pulley”, “secondarypulleys”, “tertiary pulleys”. For example, when the first decelerator940 and the second decelerator 960 transmit power by a harmonic drivestructure, the input side rotary body 930, the first and secondconnecting rotary bodies 942 and 962, and the first and second ringmembers 946 and 966 may correspond to a “wave generator”, “flexsplines”,and “circular splines”, respectively.

Hereinafter, a case in which the first decelerator 940 and the seconddecelerator 960 transmit power in a structure of toothed gears will bedescribed. However, it is obvious that example embodiments are notlimited to the following description.

FIG. 5 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment.

Referring to FIG. 5 , a driving module 100 includes a first case 112, asecond case 114, a driving source 120, a sun gear 130, a firstdecelerator 140, a first stopper 150, a second decelerator 160, a secondstopper 170, and a stopper shaft 180.

The first case 112 and the second case 114 may form an appearance of thedriving module 100. The first case 112 and the second case 114 mayprevent a direct contact between inner components of the driving module100 and a user, thereby increasing a wearability.

The driving source 120 may include, for example, a motor configured toreceive a voltage or a current and generate power, or a pump operated bya fluid pressure. However, types of the driving source 120 are notlimited thereto.

The driving source 120 includes a driving gear 122 configured to receivepower from the driving source 120, a decelerating gear 124 connected tothe driving gear 122 to decelerate a rotation velocity, and a sun gearshaft 126 configured to transmit power to the sun gear 130.

The sun gear 130 may be connected to the sun gear shaft 126 to transmitpower to the first decelerator 140 and the second decelerator 160simultaneously. An axis of rotation of the sun gear 130 may match anaxis of rotation of the first decelerator 140 and an axis of rotation ofthe second decelerator 160.

Although FIG. 5 illustrates a single sun gear 130, a plurality of sungears 130 may be provided, and each of the plurality of sun gears 130may transmit power to the first decelerator 140 and the seconddecelerator 160. For example, the plurality of sun gears 130 may beconfigured to perform a single rigid body motion.

The first decelerator 140 includes a first planet gear 142, a firstcarrier 144, a first ring gear 146, and a first pulley 148.

The first planet gear 142 may be connected to the sun gear 130 and thefirst ring gear 146. The first planet gear 142 may be engaged with thesun gear 130 and the first ring gear 146. The first planet gear 142 maybe connected to an outer circumferential surface of the sun gear 130.Further, the first planet gear 142 may be connected to an innercircumferential surface of the first ring gear 146. Thus, the firstplanet gear 142 may interact with, for example, the sun gear 130 or thefirst ring gear 146. The first planet gear 142 may rotate using torquereceived from, for example, the sun gear 130 or the first ring gear 146.

At least one first planet gear 142 may be disposed. When a plurality offirst planet gears 142 is provided, the first planet gears 142 may bedisposed at identical angles with respect to the axis of rotation of thesun gear 130.

The first carrier 144 may be connected to an axis of rotation of thefirst planet gear 142. The first carrier 144 may be connected to axes ofrotation of the plurality of first planet gears 142. The first carrier144 may be connected to both the axis of rotation of the first planetgear 142 and the axis of rotation of the sun gear 130.

In the foregoing structure, the first carrier 144 may rotate when thefirst planet gear 142 revolves around to the sun gear 130. Conversely,the first carrier may not rotate when the first planet gear 142 does notrevolve around the sun gear 130.

The first ring gear 146 may be connected to the first planet gear 142.The first ring gear 146 may be engaged with the first planet gear 142.The first ring gear 146 may rotate using torque received from the firstplanet gear 142. The first ring gear 146 includes an inner surface to beconnected to the first planet gear 142, and an outer surface to beconnected to the first stopper 150. For example, the inner surfaceand/or the outer surface of the first ring gear 146 may include teeth.

The first pulley 148 may transmit power to the first power transmittingmember 40. The first power transmitting member 40 may be wound on anouter surface of the first pulley 148.

The first pulley 148 may rotate using torque received from the firstcarrier 144. A rotation velocity and a rotation direction of the firstpulley 148 may be identical to a rotation velocity and a rotationdirection of the first carrier 144. The first pulley 148 and the firstcarrier 144 may perform a single rigid body motion. For example, thefirst pulley 148 may be fastened with the first carrier 144 by aseparate fastening member, or the first pulley 148 and the first carrier144 may form an integral body.

The first stopper 150 may enable the first ring gear 146 to selectivelyrotate. The first stopper 150 may selectively restrict the rotation ofthe first ring gear 146. For example, the first stopper 150 may includeteeth corresponding to the teeth provided on the outer surface of thefirst ring gear 146.

A state in which the first stopper 150 is connected to the first ringgear 146 may be referred to as a “restriction state”, and a state inwhich the first stopper 150 is separated from the first ring gear 146may be referred to as a “release state”.

The first stopper 150 may rotate on the stopper shaft 180. Based on arotation angle of the first stopper 150, the first stopper 150 mayselectively enable the rotation of the first ring gear 146.

Similar to the first decelerator 140, the second decelerator 160includes a second planet gear 162, a second carrier 164, a second ringgear 166, and a second pulley 168. Detailed descriptions of the secondplanet gear 162, the second carrier 164, the second ring gear 166, andthe second pulley 168 will be omitted for conciseness. For example, thefirst decelerator 140 and the second decelerator 160 may be disposed inmirror images.

Similar to the first stopper 150, the second stopper 170 may enable thesecond ring gear 166 to selectively rotate. A detailed description ofthe second stopper 170 will be omitted for conciseness.

The stopper shaft 180 may function as a central axis of rotation of thefirst stopper 150 and/or the second stopper 170. The stopper shaft 180may be fixed to the first case 112 and/or the second case 114.

Although the driving gear 122, the decelerating gear 124, the sun gear130, the first planet gear 142, the second planet gear 162, the firstring gear 146, and the second ring gear 166 are illustrated as toothedgears, example embodiments are not limited thereto. The driving gear122, the decelerating gear 124, the sun gear 130, the first planet gear142, the second planet gear 162, the first ring gear 146, and the secondring gear 166 may be rotary bodies capable of transmitting power byrolling friction.

FIG. 6 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment.

Referring to FIG. 6 , a motion assistance apparatus 11 may operate asfollows.

A controller 30 may control (e.g., power on) the driving source 120 totransmit power to the sun gear 130. The controller 30 may operate thefirst stopper 150 and the second stopper 170 to be selectively connectedto the first ring gear 146 and the second ring gear 166, respectively.

According to the operation of the first stopper 150, the firstsupporting module 50 may selectively rotate.

To operate the first supporting module 50, a force greater than a loadapplied to the first supporting module 50 is desired to be applied tothe first supporting module 50. The load may be transmitted through thefirst power transmitting member 40 and the first pulley 148 to the firstcarrier 144. Accordingly, a load greater than or equal to a set levelmay exist in the first carrier 144. Hereinafter, descriptions will beprovided based on the foregoing premise.

When the first stopper 150 is connected to the first ring gear 146, arotation of the first ring gear 146 may be stopped. When power receivedfrom the sun gear 130 increases sufficiently, the first planet gear 142may overcome a load applied to the first carrier 144, and revolve aroundto the sun gear 130. In response to the revolution of the first planetgear 142, the first carrier 144 and the first pulley 148 may rotate.When the first pulley 148 rotates, the power may be transmitted throughthe first power transmitting member 40, and the first supporting module50 may rotate.

When the first stopper 150 is separated from the first ring gear 146,the first ring gear 146 may be prepared to rotate. The first ring gear146 may be in an idling condition. The power received from the sun gear130 may be transmitted through the first planet gear 142 to the firstring gear 146 being in the idling condition, and the first ring gear 146may rotate. In this example, the first carrier 144, the first pulley148, the first power transmitting member 40, and the first supportingmodule 50 may not rotate.

Accordingly, the first supporting module 50 may selectively rotate basedon the operation of the first stopper 150.

Similarly, the second supporting module 70 may selectively rotate basedon the operation of the second stopper 170. Detailed descriptions willbe omitted for conciseness.

By alternately connecting the first stopper 150 and the second stopper170 to the first ring gear 146 and the second ring gear 166,respectively, the first supporting module 50 and the second supportingmodule 70 may alternately rotate. By alternately connecting the firststopper 150 and the second stopper 170 to the first ring gear 146 andthe second ring gear 166, respectively, a walking motion of a user maybe assisted.

FIG. 7A illustrates an operation of the first decelerator 140 associatedwith a forward movement of the first supporting module, viewed from afront of FIG. 1 , when the first supporting module 50 makes a forwardmovement, and FIG. 7B illustrates a forward movement operation of thefirst supporting module 50, viewed from a right side of FIG. 1 ,according to an example embodiment.

FIG. 8A illustrates an operation of the second decelerator 160, viewedfrom the front of FIG. 1 , when the second supporting module 70 makes aforward movement, and FIG. 8B illustrates an operation of the secondsupporting module 70, viewed from a left side of FIG. 1 , when thesecond supporting module 70 makes the forward movement.

Points P₁₁, P₁₂, P₂₁, P₂₂, P₃, and P₄ shown in FIGS. 7A through 8B aremarked for ease of understanding of the drawings and thus, detaileddescriptions of the points will be omitted for conciseness.

FIGS. 7A and 7B illustrate the first stopper 150 connected to the firstring gear 146, and FIGS. 8A and 8B illustrate the second stopper 170being connected to the second ring gear 166. Accordingly, the first ringgear 146 and the second ring gear 166 may be selectively stopped.

Referring to FIGS. 7A through 8B, when the sun gear 130 rotates in onedirection, the first supporting module 50 and the second supportingmodule 70 may move forward.

For example, when the sun gear 130 rotates counterclockwise with respectto the front of FIG. 1 , the first planet gear 142 and the second planetgear 162 may rotate clockwise, the first carrier 144 and the secondcarrier 164 may rotate counterclockwise, and the first pulley 148 andthe second pulley 168 may rotate counterclockwise.

Referring to FIGS. 7A and 7B, the first power transmitting member 40,which is provided in an overlapping manner, when seeing from a side ofthe motion assistance apparatus 10, between the first pulley 148 and thefirst joint member 44, may enable the first joint member 44 to rotate ina direction opposite to the rotation direction of the first pulley 148.The first joint member 44 may be disposed on a right leg of a user. Forexample, the first joint member 44 may be disposed so that a surface ofthe first joint member 44 may face a right side surface of the right legof the user. Thus, the first joint member 44 may enable the firstsupporting module 50 to move forward.

As shown in FIGS. 8A and 8B, the second power transmitting member 40,which is provided in a non-overlapping manner, when seeing from a sideof the motion assistance apparatus 10, between the second pulley 168 andthe second joint member 64, may enable the second joint member 64 torotate in a direction identical to the rotation direction of the secondpulley 168. The second joint member 64 may be disposed on a left leg ofthe user. For example, the second joint member 64 may be disposed sothat a surface of the second joint member 64, shown in FIG. 8A, may facea left side surface of the left leg of the user. In this example, thesecond joint member 64 may enable the second supporting module 70 tomove forward.

When the sun gear 130 rotates in another direction (e.g., a directionopposite to the one direction), the first supporting module 50 and thesecond supporting module 70 may move backward. For example, when the sungear 130 rotates clockwise with respect to the front of FIG. 1 , thefirst supporting module 50 and the second supporting module 70 may movebackward. Detailed descriptions will be omitted for conciseness.

Through the foregoing configuration, the first stopper 150 and thesecond stopper 170 may operate using various methods depending on statesof the user.

First, both the first stopper 150 and the second stopper 170 may be in arestriction state. In this state, when the sun gear 130 rotates in onedirection, the first supporting module 50 and the second supportingmodule 70 may move forward. When the sun gear 130 rotates in anotherdirection (e.g., a direction opposite to the one direction), the firstsupporting module 50 and the second supporting module 70 may movebackward.

By moving the first supporting module 50 and the second supportingmodule 70 forward, a sitting-down motion of the user may be assisted.Conversely, by moving the first supporting module 50 and the secondsupporting module 70 backward, a standing-up motion of the user may beassisted.

Second, the first stopper 150 and the second stopper 170 may operatealternately. For example, by connecting the first stopper 150 to thefirst ring gear 146 and separating the second stopper 170 from thesecond ring gear 166 while the sun gear 130 is rotating in onedirection, the first supporting module 50 may move forward. Similarly,by separating the first stopper 150 from the first ring gear 146 andconnecting the second stopper 170 to the second ring gear 166, thesecond supporting module 70 may move forward.

Through an asymmetric connection structure of the first powertransmitting member 40 and the second power transmitting member 60, awalking motion may be assisted without changing a rotation direction ofthe sun gear 130.

Third, both the first stopper 150 and the second stopper 170 may be in arelease state. While the driving source 120 is powered off, the firststopper 150 and the second stopper 170 may be maintained in the releasestate. In this state, the user may freely move without being affected bya load applied by the driving source 120.

The three motion states described above may be summarized as shown inTable 1.

TABLE 1 Motion state First stopper Second stopperSitting-down/Standing-up Restriction Restriction Walking Firstsupporting module Restriction Release movement Second supporting ReleaseRestriction module movement Free motion Release Release

Hereinafter, the same name may be used to describe an element, which hasa same or similar function to the element included in the exampleembodiments described above. Unless otherwise mentioned, thedescriptions on the foregoing example embodiments also may be applicableto the following example embodiments, and thus, duplicated descriptionswill be omitted for conciseness.

FIG. 9 is a view illustrating a ring gear and a stopper according to anexample embodiment.

Referring to FIG. 9 , a ring gear 546 includes a first compound ringgear 546 a and a second compound ring gear 546 b. The first compoundring gear 546 a and the second compound ring gear 546 b may haveidentical rotation directions and identical rotation velocities. Thefirst compound ring gear 546 a and the second compound ring gear 546 bmay be fastened with each other by a separate fastening member, orprovided integrally.

The first compound ring gear 546 a and the second compound ring gear 546b may be provided in different shapes. For example, with respect to therotation direction of the ring gear 546, each tooth of the firstcompound ring gear 546 a may have a steeper slope in a first directionthan a slope in a second direction opposite to the first direction.Conversely, each tooth of the second compound ring gear 546 b may have agentler slope in the first direction than a slope in the seconddirection.

A compound stopper 550 includes a first stopper 552 and a second stopper554. The first stopper 552 and the second stopper 554 may include teethhaving shapes corresponding to the first compound ring gear 546 a andthe second compound ring gear 546 b, respectively.

Through the foregoing structure, a force exerted by the stopper 550 torestrict the ring gear 546 may increase.

FIG. 10 is a view illustrating a ring gear and a stopper according to anexample embodiment.

Referring to FIG. 10 , a ring gear 646 may be restricted by a frictionalforce of a stopper 650.

For example, the stopper 650 may move forward and backward toselectively restrict the ring gear 646.

The stopper 650 includes a stopper body 658 and a brake pad 656. Thebrake pad 656 may include an elastic material, for example, rubber.

FIG. 11 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment. Duplicated descriptionsprovided with respect to the driving module 100 illustrated in FIG. 5will be omitted for conciseness.

Referring to FIG. 11 , a driving module 200 includes a first case 212, asecond case 214, a driving source 220, a sun gear 230, a firstdecelerator 240, a first stopper 250, a second decelerator 260, a secondstopper 270, and a stopper shaft 280.

The driving source 220 includes a driving gear 222, a decelerating gear224, and a sun gear shaft 226.

The first decelerator 240 includes a first planet gear 242, a firstcarrier 244, a first ring gear 246, and a first pulley 248.

The first carrier 244 includes an outer surface to which the firststopper 250 can be engaged. For example, the outer surface of the firstcarrier 244 may include teeth.

The first pulley 248 may rotate using torque received from the firstring gear 246. A rotation velocity and a rotation direction of the firstpulley 248 may be identical to a rotation velocity and a rotationdirection of the first ring gear 246. The first pulley 248 and the firstring gear 246 may perform a single rigid body motion. For example, thefirst pulley 248 may be fastened with the first ring gear 246 by aseparate fastening member, or the first pulley 248 and the first ringgear 246 may be provided as an integral body.

The first stopper 250 may enable the first carrier 244 to selectivelyrotate. The first stopper 250 may selectively restrict a movement of thefirst carrier 244. For example, the first stopper 250 may include teethcorresponding to the teeth provided on the outer surface of the firstcarrier 244.

A state in which the first stopper 250 is connected to the first carrier244 may be referred to as a “restriction state”, and a state in whichthe first stopper 250 is separated from the first carrier 244 may bereferred to as a “release state”.

The first stopper 250 may rotate on the stopper shaft 280. According toa rotation angle of the first stopper 250, the first stopper 250 mayenable the first carrier 244 to selectively rotate.

Similar to the first decelerator 240, the second decelerator 260includes a second planet gear 262, a second carrier 264, a second ringgear 266, and a second pulley 268. Detailed descriptions of the secondplanet gear 262, the second carrier 264, the second ring gear 266, andthe second pulley 268 will be omitted for conciseness. For example, thefirst decelerator 240 and the second decelerator 260 may be disposed inmirror images.

Similar to the first stopper 250, the second stopper 270 may enable thesecond carrier 264 to selectively rotate. A detailed description of thesecond stopper 270 will be omitted for conciseness.

Although the driving gear 222, the decelerating gear 224, the sun gear230, the first planet gear 242, the second planet gear 262, the firstcarrier 244, the second carrier 264, the first ring gear 246, and thesecond ring gear 266 are illustrated as toothed gears, exampleembodiments are not limited thereto. The driving gear 222, thedecelerating gear 224, the sun gear 230, the first planet gear 242, thesecond planet gear 262, the first carrier 244, the second carrier 264,the first ring gear 246, and the second ring gear 266 may be rotarybodies capable of transmitting power by rolling friction.

FIG. 12 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment.

Referring to FIG. 12 , a motion assistance apparatus 12 may operate asfollows.

A controller 30 may control (e.g., power on) the driving source 220 totransmit power to the sun gear 230. The controller 30 may operate thefirst stopper 250 and the second stopper 270 to be selectively connectedto the first carrier 244 and the second carrier 264, respectively.

According to the operation of the first stopper 250, the firstsupporting module 50 may selectively rotate.

To operate the first supporting module 50, a force greater than a loadapplied to the first supporting module 50 is desired to be applied tothe first supporting module 50. The load may be transmitted through thefirst power transmitting member 40 and the first pulley 248 to the firstring gear 246. Thus, a load greater than or equal to a set level existsin the first ring gear 246. Hereinafter, descriptions will be providedbased on the foregoing premise.

When the first stopper 250 is connected to the first carrier 244, thefirst carrier 244 may be stopped. When power received from the sun gear230 increases sufficiently, the first planet gear 242 may overcome aload applied to the first ring gear 246, and rotate. In response to therotation of the first planet gear 242, the first ring gear 246 and thefirst pulley 248 may rotate. When the first pulley 248 rotates, thepower may be transmitted through the first power transmitting member 40,and the first supporting module 50 may rotate.

When the first stopper 250 is separated from the first carrier 244, thefirst carrier 244 may be prepared to rotate. The first carrier 244 maybe in an idling condition. The power received from the sun gear 230 maybe transmitted through the first planet gear 242 to the first carrier244 being in the idling condition, and the first carrier 244 may rotate.In this example, the first ring gear 246, the first pulley 248, thefirst power transmitting member 40, and the first supporting module 50may not rotate.

Accordingly, the first supporting module 50 may selectively rotate basedon the operation of the first stopper 250.

Similarly, the second supporting module 70 may selectively rotate basedon the operation of the second stopper 270. Detailed descriptions willbe omitted for conciseness.

By alternately connecting the first stopper 250 and the second stopper270 to the first carrier 244 and the second carrier 264, respectively,the first supporting module 50 and the second supporting module 70 mayalternately rotate. By alternately connecting the first stopper 250 andthe second stopper 270 to the first carrier 244 and the second carrier264, respectively, a walking motion of a user may be assisted.

FIG. 13A illustrates an operation of the first decelerator 240associated with a forward movement of the first supporting module 50,viewed from a front of FIG. 1 , and FIG. 13B illustrates an operation ofthe first supporting module 240, viewed from a right side of FIG. 1 ,according to an example embodiment.

FIG. 14A illustrates an operation of the second decelerator 260associated with a forward movement of a second supporting module, viewedfrom the front of FIG. 1 , and FIG. 14B illustrates a forward movementoperation of the second supporting module 70, viewed from a left side ofFIG. 1 , according to an example embodiment.

FIGS. 13A and 13B illustrate the first stopper 250 being connected tothe first carrier 244, and FIGS. 14A and 14B illustrate the secondstopper 270 being connected to the second carrier 264. Accordingly, thefirst carrier 244 and the second carrier 264 may be selectively stopped.

Referring to FIGS. 13A through 14B, when the sun gear 230 rotates in onedirection, the first supporting module 50 and the second supportingmodule 70 may move forward.

For example, when the sun gear 230 rotates clockwise with respect to thefront of FIG. 1 , the first planet gear 242 and the second planet gear262 may rotate clockwise, the first ring gear 246 and the second ringgear 266 may rotate counterclockwise, and the first pulley 248 and thesecond pulley 268 may rotate counterclockwise.

Referring to FIGS. 13A and 13B, the first power transmitting member 40,which is provided between the first pulley 248 and the first jointmember 44 and includes a first portion and a second portion crossing thefirst portion, may enable the first joint member 44 to rotate in adirection opposite to the rotation direction of the first pulley 248.The first joint member 44 may be disposed on a right leg of a user. Forexample, the first joint member 44 may be disposed so that a surface ofthe first joint member 44, shown in FIG. 13A, may face a right sidesurface of the right leg of the user. Thus, the first joint member 44may enable the first supporting module 50 to move forward.

As shown in FIGS. 14A and 14B, the second power transmitting member 40,which includes a first portion and a second portion not crossing thefirst portion and provided between the second pulley 268 and the secondjoint member 64 may enable the second joint member 64 to rotate in adirection identical to the rotation direction of the second pulley 268.The second joint member 64 may be disposed on a left leg of the user.For example, the second joint member 64 may be disposed so that asurface of the second joint member 64, shown in FIG. 8A, may face a leftside surface of the left leg of the user. In this example, the secondjoint member 64 may enable the second supporting module 70 to moveforward.

When the sun gear 230 rotates in another direction (e.g., a directionopposite to the one direction), the first supporting module 50 and thesecond supporting module 70 may move backward. For example, when the sungear 230 rotates clockwise with respect to the front of FIG. 1 , thefirst supporting module 50 and the second supporting module 70 may movebackward. Detailed descriptions will be omitted for conciseness.

Through the foregoing configuration, the first stopper 250 and thesecond stopper 270 may operate using various methods depending on statesof the user. Similar to the first stopper 150 and the second stopper 170of FIGS. 7A through 8B, a motion state may be classified into threemotion states, and arranged as shown in Table 2. Detailed descriptionswill be omitted for conciseness.

TABLE 2 Motion state First stopper Second stopperSitting-down/Standing-up Restriction Restriction Walking Firstsupporting module Restriction Release movement Second supporting ReleaseRestriction module movement Free motion Release Release

According to some example embodiments, a first decelerator and a seconddecelerator may operate independently. Thus, one of the firstdecelerator and the second decelerator may be configured as shown inFIGS. 5, 7A, and 7B, and the other of the first decelerator and thesecond decelerator may be configured as shown in FIGS. 11, 14A, and 14B.A first power transmitting member and a second power transmitting membermay be symmetrically disposed to each other with respect to the drivingmodule 100 or 200.

For example, the first decelerator may be configured as shown in FIGS.5, 7A, and 7B, and the first power transmitting member may be disposedin a twisted manner. The second decelerator may be configured as shownin FIGS. 11, 14A, and 14B, and the second power transmitting member maybe disposed in a non-twisted manner. In this example, a first stopperand a second stopper may be in a restriction state. When a sun gearrotates counterclockwise, a first supporting module and a secondsupporting module may move forward. Through the foregoing configuration,the first stopper and the second stopper may operate using variousmethods depending on states of the user. Similarly, a motion state mayalso be classified into three motion states. Detailed descriptions willbe omitted for conciseness.

Referring to FIGS. 1 through 14B, a sun gear, a first planet gear, afirst ring gear, a first carrier, a second planet gear, a second ringgear, and a second carrier may be referred to as a “first rotary body”,a “second rotary body”, a “third rotary body”, a “fourth rotary body”, a“fifth rotary body”, a “sixth rotary body”, and a “seventh rotary body”,respectively.

The second rotary body may be engaged with the first rotary body, andconfigured to rotate. The third rotary body may be engaged with thesecond rotary body, and configured to rotate. The fourth rotary body maybe connected to an axis of rotation of the second rotary body, andconfigured to rotate when the second rotary body revolves around thefirst rotary body.

The fifth rotary body may be engaged with the first rotary body, andconfigured to rotate. The sixth rotary body may be engaged with thefifth rotary body, and configured to rotate. The seventh rotary body maybe connected to an axis of rotation of the fifth rotary body, andconfigured to rotate when the fifth rotary body revolves around thefirst rotary body.

According to some example embodiments, the first stopper may beselectively connected to one of the third rotary body and the fourthrotary body, and the second stopper may be selectively connected to oneof the sixth rotary body and the seventh rotary body.

FIG. 15 is a rear perspective view illustrating a driving moduleaccording to an example embodiment, and FIG. 16 is a front explodedperspective view illustrating a driving module according to an exampleembodiment.

Referring to FIGS. 15 and 16 , a driving module 300 includes a firstcase 312, a second case 314, a driving source 320, a sun gear 330, afirst decelerator 340, and a second decelerator 360.

The sun gear 330 may receive power from the driving source 320 andtransmit the power to the first decelerator 340 and the seconddecelerator 360. For example, the sun gear 330 may be engaged with afirst planet gear 342 and a second planet gear 362 simultaneously,thereby enabling the first planet gear 342 and the second planet gear362 to rotate simultaneously. Thus, the first decelerator 340 includingthe first planet gear 342 as an input terminal may receive power fromthe sun gear 330. Similarly, the second decelerator 360 including thesecond planet gear 362 as an input terminal may receive power from thesun gear 330.

Although FIG. 16 illustrates the sun gear 330 including a single sungear, the sun gear 330 may include a plurality of sun gears 330configured to transmit power to the first decelerator 340 and the seconddecelerator 360. For example, the plurality of sun gears may perform asingle rigid body motion. The first decelerator 340 includes the firstplanet gear 342, a first carrier 344, a first ring gear 346, and a firstpulley 348.

The first pulley 348 may rotate using torque received from the firstring gear 346. A rotation velocity and a rotation direction of the firstpulley 348 may be identical to a rotation velocity and a rotationdirection of the first ring gear 346. The first pulley 348 and the firstring gear 346 may perform a single rigid body motion.

For example, the first pulley 348 may be fastened with the first ringgear 346 by a separate fastening member, or provided as an integral bodywith the first ring gear 346. For example, the first pulley 348 may beprovided integrally on an outer circumferential surface of the firstring gear 346. In such a case, a groove may be provided on an outercircumferential surface of the first ring gear 346, and the first powertransmitting member 40 may be wound along the groove.

Similar to the first decelerator 340, the second decelerator 360 mayinclude the second planet gear 362, a second carrier 364, a second ringgear 366, and a second pulley 368. Detailed descriptions of the secondplanet gear 362, the second carrier 364, the second ring gear 366, andthe second pulley 368 will be omitted for conciseness.

The first planet gear 342 and the second planet gear 362 may beconnected to have an identical axis of rotation. The first planet gear342 and the second planet gear 362 may have identical revolutionvelocities with respect to the sun gear 330. The first planet gear 342and the second planet gear 362 may perform a single rigid body motion.The first planet gear 342 and the second planet gear 362 may be fastenedwith each other by a separate fastening member, or may be provided as anintegral body.

The first carrier 344 and the second carrier 364 may be connected tohave an identical axis of rotation. The first carrier 344 and the secondcarrier 364 may have identical rotation directions and identicalrotation velocities.

Because both the first carrier 344 and the second carrier 364 operateand function identically, one of the first carrier 344 and the secondcarrier 364 may be omitted. Further, the first carrier 344 and thesecond carrier 364 may be provided as an integral body.

A gear ratio from the sun gear 330 to an output terminal of the firstdecelerator 340 may be referred to as a “first gear ratio N1”, and agear ratio from the sun gear 330 to an output terminal of the seconddecelerator 360 may be referred to as a “second gear ratio N2.”

In the present example embodiments, the first gear ratio N1 may bedefined as a gear ratio from the sun gear 330 to the first ring gear346. The second gear ratio N2 may be defined as a gear ratio from thesun gear 330 to the second ring gear 366.

The first gear ratio N1 may differ from the second gear ratio N2. Basedon a difference between the first gear ratio N1 and the second gearratio N2, the first decelerator 340 and the second decelerator 360 mayperform relative motions with respect to each other.

According to some example embodiments, when a plurality of sun gears 330is provided such that by the number of teeth of a portion of the sungears 330 are connected to the first decelerator 340 and the number ofteeth of a remaining portion of the sun gears 330 are connected to thesecond decelerator 360, the first gear ratio N1 may be set to bedifferent from the second gear ratio N2.

According to some example embodiments, by differently setting the numberof teeth of the first planet gear 342 and the number of teeth of thesecond planet gear 362, and/or by differently setting the number ofteeth of the first ring gear 346 and the number of teeth of the secondring gear 366, the first gear ratio N1 may be set to be different fromthe second gear ratio N2.

FIG. 16 illustrates a case in which a sun gear 330 includes a singlegear, the number of teeth of the first planet gear 342 is equal to thenumber of teeth of the second planet gear 362, and the number of teethof the first ring gear 346 is different from the number of teeth of thesecond ring gear 366. For example, the number of teeth of the first ringgear 346 may be smaller than the number of teeth of the second ring gear366. For example, the first gear ratio N1 may be smaller than the secondgear ratio N2. Hereinafter, descriptions will be provided based on theforegoing premise. However, other configurations in which the first gearratio N1 differs from the second gear ratio N2 may also be possible.

Although the sun gear 330, the first planet gear 342, the second planetgear 362, the first ring gear 346, and the second ring gear 366 areillustrated as toothed gears, example embodiments are not limitedthereto. The sun gear 330, the first planet gear 342, the second planetgear 362, the first ring gear 346, and the second ring gear 366 may berotary bodies capable of transmitting power by rolling friction.

FIG. 17 is a front exploded perspective view illustrating a drivingmodule according to an example embodiment.

Referring to FIG. 17 , a first planet gear 342′ and a second planet gear362′ may be held together or provided as an integral body. In thisexample, a sun gear 330′ may be connected to one of the first planetgear 342′ and the second planet gear 362′. Further, the number of teethof the first planet gear 342′ may differ from the number of teeth of thesecond planet gear 362′ and the sun gear 330′ may be coupled to thesecond planet gear 362′.

The sun gear 330′ may receive power from a driving source 320, andtransmit the power to a first decelerator 340 and a second decelerator360. For example, the sun gear 330′ may transmit power to the secondplanet gear 362′. Thus, the second decelerator 360 including the secondplanet gear 362′ as an input terminal may receive power from the sungear 330′. When the second planet gear 362′ rotates, the first planetgear 342′ provided to be held together with the second planet gear 362′may also rotate. Thus, the first decelerator 340 including the firstplanet gear 342′ as an input terminal may receive power from the sungear 330′.

FIG. 18 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment.

Referring to FIG. 18 , a motion assistance apparatus 13 may operate asfollows.

A controller 30 may control (e.g., power on) a driving source 320 totransmit power to a sun gear 330. The power transmitted to the sun gear330 may be transmitted to a first planet gear 342 and a second planetgear 362, simultaneously.

The first planet gear 342 may transmit power to a first carrier 344and/or a first ring gear 346. The second planet gear 362 may transmitpower to a second carrier 364 and/or a second ring gear 366.

Based on a difference between a first gear ratio N1 and a second gearratio N2, the first ring gear 346 and the second ring gear 366 mayperform relative motions with respect to each other. Thus, an anglebetween a first supporting module 50 and a second supporting module 70may be adjusted.

The controller 30 may alternately change a rotation direction of the sungear 330. Accordingly, the angle between the first supporting module 50and the second supporting module 70 may alternately increase ordecrease. Through the foregoing structure, a walking motion of a usermay be assisted.

According to some example embodiments, the driving module 300 of FIG. 16may operate while all of the first carrier 344, the second carrier 364,the first ring gear 346, and the second ring gear 366 are not beingfixed to the first case 312 and the second case 314. In such case, thefirst carrier 344 and the second carrier 364 may not be restricted by acomponent other than axes of rotation of the first planet gear 342 andthe second planet gear 362. Further, the first ring gear 346 and thesecond ring gear 366 may not be restricted by a component other than thefirst planet gear 342, the second planet gear 362, the first pulley 348,and the second pulley 368. A bearing may be provided to enable freerotation of a carrier and/or a ring gear.

Thus, absolute positions of the first carrier 344, the second carrier364, the first ring gear 346, and the second ring gear 366 may not bedetermined based on a rotation angle of the sun gear 330. The absolutepositions of the first carrier 344, the second carrier 364, the firstring gear 346, and the second ring gear 366 may change based on torquereceived from the sun gear 330 and a load received from outside. Forexample, a reference position may be determined based on a position ofeach leg while a user (e.g., a wearer) is walking.

The present example embodiment is provided to assist a walking motion ofa user by adjusting the angle between the first supporting module 50 andthe second supporting module 70. According to this example, althoughabsolute positions of the first supporting module 50 and the secondsupporting module 70 cannot be determined, those skilled in the art mayimplement a motion assistance apparatus capable of adjusting the anglebetween the first supporting module 50 and the second supporting module70.

Thus, through the relative motions of the first ring gear 346 and thesecond ring gear 366 with respect to each other, the angle between thefirst supporting module 50 and the second supporting module 70 may beadjusted. The absolute positions of the first supporting module 50 andthe second supporting module 70 may change based on the load receivedfrom outside and the sun gear 330.

FIG. 19 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment.

Referring to FIG. 19 , a motion assistance apparatus 13′ may operate asfollows.

Power transmitted to a sun gear 330′ may be transmitted one of a firstplanet gear 342′ and a second planet gear 362′. For example, the powertransmitted to the sun gear 330′ may be transmitted to the second planetgear 362′. When the second planet gear 362′ rotates, the first planetgear 342′ provided to be held together or as an integral body with thesecond planet gear 362′ may rotate.

The first planet gear 342′ may transmit power to a first carrier 344and/or a first ring gear 346. The second planet gear 362′ may transmitpower to a second carrier 364 and/or a second ring gear 366.

Based on a difference between a first gear ratio N1 and a second gearratio N2, the first ring gear 346 and the second ring gear 366 mayperform relative motions with respect to each other. Thus, an anglebetween a first supporting module 50 and a second supporting module 70may be adjusted.

The controller 30 may alternately change a rotation direction of the sungear 330′. In this example, the angle between the first supportingmodule 50 and the second supporting module 70 may alternately increaseor decrease. Through the foregoing structure, a walking motion of a usermay be assisted.

FIGS. 20A and 20B are views illustrating operations of the drivingmodule 300 of FIG. 16 , the first supporting module 50, and the secondsupporting module 70 when the first carrier 344 and the second carrier364 are fixed to each other according to an example embodiment. Inparticular, FIG. 20A illustrates operations of the first decelerator 340and the second decelerator 360, and FIG. 20B illustrates operations ofthe first supporting module 50 and the second supporting module 70.

Although the first carrier 344 and the second carrier 364 do not have tobe fixed to each other in the present example embodiments, a case inwhich the first carrier 344 and the second carrier 364 are fixed to eachother will be described first for ease of understanding.

Referring to FIG. 20A, when the sun gear 330 rotates clockwise, thefirst planet gear 342 and the second planet gear 362 may rotatecounterclockwise, and a first ring gear 346 and a second ring gear 366may rotate counterclockwise.

When the number of teeth of the first ring gear 346 is smaller than thenumber of teeth of the second ring gear 366, a first gear ratio N1 maybe smaller than a second gear ratio N2. Thus, the first ring gear 346may rotate at a faster angular velocity than the second ring gear 366.The first ring gear 346 and the second ring gear 366 may have differentangular velocities. Accordingly, the first pulley 348 and the secondpulley 368 may have different angular velocities.

Thus, as shown in FIG. 20B, an angle between the first supporting module50 and the second supporting module 70 may increase. The firstsupporting module 50 and the second supporting module 70 may moveforward.

Conversely, when the sun gear 330 rotates counterclockwise, the firstsupporting module 50 and the second supporting module 70 may movebackward.

In a state as shown in FIG. 20B, a user may apply a load to at least oneof the first decelerator 340 and the second decelerator 360 to lift anupper body of the user for upright walking. Hereinafter, descriptionswill be provided with reference to FIGS. 21A and 21B.

FIGS. 21A and 21B are views illustrating operations of the drivingmodule 300 of FIG. 16 , the first supporting module 50, and the secondsupporting module 70 when power of the driving source 320 is appliedaccording to an example embodiment. In particular, FIG. 21A illustratesoperations of the first decelerator 340 and the second decelerator 360,and FIG. 21B illustrates operations of the first supporting module 50and the second supporting module 70.

Referring to FIGS. 21A and 21B, when a user applies a load to the firstdecelerator 340 and the second decelerator 360 to lift an upper body ofthe user in a state in which power of the driving source 320 is applied,the first carrier 344 and the second carrier 364 may rotate such thatthe first supporting module 50 moves backward and the second supportingmodule 70 moves forward.

When the user walks upright, the first carrier 344 and the secondcarrier 364 may rotate so that a rotation direction of the first ringgear 346 may be opposite to a rotation direction of the second ring gear366. Thus, the first pulley 348 connected to the first ring gear 346 andthe second pulley 368 connected to the second ring gear 366 may rotatein opposite directions.

Thus, when the sun gear 330 rotates clockwise, the first supportingmodule 50 may move forward, and the second supporting module 70 may movebackward, as shown in FIG. 21B.

Conversely, when the sun gear 330 rotates counterclockwise, the firstsupporting module 50 may move backward, and the second supporting module70 may move forward.

The controller 30 of FIG. 18 may alternately change a rotation directionof the sun gear 330, thereby assisting a walking motion of the user.

FIGS. 22A and 22B are views illustrating operations of the drivingmodule 300 of FIG. 16 , the first supporting module 50, and the secondsupporting module 70 when power of the driving source 320 is blockedaccording to an example embodiment. In particular, FIG. 22A illustratesoperations of the first decelerator 340 and the second decelerator 360,and FIG. 22B illustrates operations of the first supporting module 50and the second supporting module 70.

Referring to FIG. 22A, when a user applies a load for bending an upperbody of the user to the first decelerator 340 and the second decelerator360 in a state in which the driving source 320 is powered off, the firstsupporting module 50 and the second supporting module 70 may transmitloads of identical directions to the first pulley 348 and the secondpulley 368.

In this example, the first ring gear 346, the second ring gear 366, thefirst planet gear 342, the second planet gear 362, the first carrier344, the second carrier 364, and the sun gear 330 may perform a singlerigid body motion. The first ring gear 346, the second ring gear 366,the first planet gear 342, the second planet gear 362, the first carrier344, the second carrier 364, and the sun gear 330 may have identicalrotation velocities.

Thus, as shown in FIG. 22B, the user may freely perform a sitting-downmotion without receiving the load by the driving source 320.

Conversely, when the user applies a load for lifting the upper body ofthe user to the first decelerator 340 and the second decelerator 360 ina state in which the driving source 320 is powered off, the user mayfreely perform a standing-up motion without receiving the load by thedriving source 320.

The user may apply a load for bending the upper body of the user to thefirst decelerator 340 and the second decelerator 360 in a state in whichthe driving source 320 is held. For example, because the sun gear 330 isfixed, the first ring gear 346 and the second ring gear 366 may rotateat different angular velocities with respect to the sun gear 330.Further, as shown in FIG. 20B, the first supporting module 50 and thesecond supporting module 70 may move in identical directions to bespaced apart from each other. Through the foregoing process, the usermay perform the sitting-down motion.

In this example, by enabling a ratio of a third gear ratio N3 betweenthe first pulley 348 and the first joint assembly 42 to a fourth gearratio N4 between the second pulley 368 and the second joint assembly 62to be equal to an inverse number of a ratio of a first gear ratio N1 toa second gear ratio N2, the first supporting module 50 and the secondsupporting module 70 may be mitigated or prevented from being spacedapart from each other while the user is sitting down.

As another method, by reducing a difference between the first gear ratioN1 and the second gear ratio N2, an angle at which the first supportingmodule 50 and the second supporting module 70 are to be spaced apartfrom each other while the user is sitting down may be reduced. Thus,even when the difference between the first gear ratio N1 and the secondgear ratio N2 is relatively small, the first supporting module 50 andthe second supporting module 70 may secure an angular velocitysufficient for a walking motion using the driving source 320 having ahigh revolution per minute (RPM) value.

The three motion states described above may be arranged as shown inTable 3.

TABLE 3 Motion state Driving source/Sun Gear Walking First supportingmodule ON/Clockwise forward/Second supporting module backward Firstsupporting module ON/Counterclockwise backward/Second supporting moduleforward Sitting-down/Standing-up (i) OFF/Not holding or not engaging thedriving source (ii) ON/Holding or engaging the driving source

FIG. 23 is a front exploded perspective view illustrating a drivingmodule according to example embodiments. Duplicated descriptionsprovided with respect to the driving module 300 of FIG. 16 will beomitted for conciseness.

Referring to FIG. 23 , a driving module 400 includes a first case 412, asecond case 414, a driving source 420, a sun gear 430, a firstdecelerator 440, and a second decelerator 460.

The sun gear 430 may receive power from the driving source 420, andtransmit the power to the first decelerator 440 and the seconddecelerator 460. For example, the sun gear 430 may be engaged with afirst planet gear 442 and a second planet gear 462 simultaneously,thereby enabling the first planet gear 442 and the second planet gear462 to rotate simultaneously. Thus, the first decelerator 440 includingthe first planet gear 442 as an input terminal may receive power fromthe sun gear 430. Similarly, the second decelerator 460 including thesecond planet gear 462 as an input terminal may receive power from thesun gear 430.

The first decelerator 440 includes the first planet gear 442, a firstcarrier 444, a first ring gear 446, and a first pulley 448.

The first pulley 448 may rotate using torque received from the firstcarrier 444. A rotation velocity and a rotation direction of the firstpulley 448 may be identical to a rotation velocity and a rotationdirection of the first carrier 444. The first pulley 448 and the firstcarrier 444 may perform a single rigid body motion.

For example, the first pulley 448 may be fastened with the first carrier444 by a separating fastening member, or provided as an integral bodywith the first carrier 444. For example, the first pulley 448 may beprovided integrally on an outer circumferential surface of the firstcarrier 444. A groove may be provided on the outer circumferentialsurface of the first carrier 444, and the first power transmittingmember 40 may be wound along the groove. Through the foregoingstructure, the number of components may be reduced, and a manufacturingcost and time may be saved.

Similar to the first decelerator 440, the second decelerator 460 mayinclude the second planet gear 462, a second carrier 464, a second ringgear 466, and a second pulley 468. Detailed descriptions of the secondplanet gear 462, the second carrier 464, the second ring gear 466, andthe second pulley 468 will be omitted for conciseness.

The first ring gear 446 and the second ring gear 466 may have identicalrotation velocities. The first ring gear 446 and the second ring gear466 may be fastened with each other by a separate fastening member, orprovided as an integral body.

In the present example embodiments, the first carrier 344 and the secondcarrier 364 may be provided as separate members.

A gear ratio from the sun gear 430 to an output terminal of the firstdecelerator 440 may be referred to as a “first gear ratio N1”, and agear ratio from the sun gear 430 to an output terminal of the seconddecelerator 460 may be referred to as a “second gear ratio N2.”

In the present example embodiments, the first gear ratio N1 may bedefined as a gear ratio from the sun gear 430 to the first carrier 444.The second gear ratio N2 may be defined as a gear ratio from the sungear 430 to the second carrier 464.

The first gear ratio N1 may differ from the second gear ratio N2. Basedon a difference between the first gear ratio N1 and the second gearratio N2, the first decelerator 440 and the second decelerator 460 mayperform relative motions with respect to each other. Detaileddescriptions will be omitted for conciseness.

FIG. 23 illustrates a case in which the sun gear 430 includes a singlesun gear, the number of teeth of the first planet gear 442 is equal tothe number of teeth of the second planet gear 462, and the number ofteeth of the first ring gear 446 is different from the number of teethof the second ring gear 466. For example, the number of teeth of thefirst ring gear 446 may be smaller than the number of teeth of thesecond ring gear 466. In this example, the first gear ratio N1 may besmaller than the second gear ratio N2. Hereinafter, descriptions will beprovided based on the foregoing premise. However, other configurationsin which the first gear ratio N1 differs from the second gear ratio N2may also be possible.

Although the sun gear 430, the first planet gear 442, the second planetgear 462, the first ring gear 446, and the second ring gear 466 areillustrated as toothed gears, example embodiments are not limitedthereto. The sun gear 430, the first planet gear 442, the second planetgear 462, the first ring gear 446, and the second ring gear 466 may berotary bodies capable of transmitting power by rolling friction.

FIG. 24 is a block diagram illustrating a motion assistance apparatusaccording to an example embodiment.

Referring to FIG. 24 , a motion assistance apparatus 14 may operate asfollows.

A controller 30 may control (e.g., power on) the driving source 420 totransmit power to the sun gear 430. The power transmitted to the sungear 430 may be transmitted to the first planet gear 442 and the secondplanet gear 462, simultaneously.

The first planet gear 442 may transmit power to the first carrier 444and/or the first ring gear 446. The second planet gear 462 may transmitpower to the second carrier 464 and/or the second ring gear 466.

Based on a difference between a first gear ratio N1 and a second gearratio N2, the first carrier 444 and the second carrier 464 may performrelative motions with respect to each other. Thus, an angle between thefirst supporting module 50 and the second supporting module 70 may beadjusted.

The controller 30 may alternately change a rotation direction of the sungear 430. In this example, the angle between the first supporting module50 and the second supporting module 70 may alternately increase ordecrease. Through the foregoing structure, a walking motion of a usermay be assisted.

According to some example embodiments, the driving module 400 of FIG. 23may operate while all of the first carrier 444, the second carrier 464,the first ring gear 446, and the second ring gear 466 are not beingfixed to the first case 412 and the second case 414. In such cases, thefirst carrier 444 and the second carrier 464 may not be restricted by acomponent other than axes of rotation of the first planet gear 442 andthe second planet gear 462, the first pulley 448, and the second pulley468. Further, the first ring gear 446 and the second ring gear 466 maynot be restricted by a component other than the first planet gear 442,the second planet gear 462. A bearing may be provided to enable freerotation of a carrier or a ring gear.

Thus, through the relative motions of the first carrier 444 and thesecond carrier 464 with respect to each other, the angle between thefirst supporting module 50 and the second supporting module 70 may beadjusted. Absolute positions of the first supporting module 50 and thesecond supporting module 70 may change based on a load received fromoutside and the sun gear 430.

FIGS. 25A and 25B are views illustrating operations of the drivingmodule 400, the first supporting module 50, and the second supportingmodule 70, as illustrated in FIG. 23 , when the first ring gear 446 andthe second ring gear 466 are fixed to each other according to an exampleembodiment. In particular, FIG. 25A illustrates operations of the firstdecelerator 440 and the second decelerator 460, and FIG. 25B illustratesoperations of the first supporting module 50 and the second supportingmodule 70.

Although the first ring gear 446 and the second ring gear 466 may beprovided in a non-fixed manner, a case in which the first ring gear 446and the second ring gear 466 are provided in a fixed manner will bedescribed first for ease of understanding.

Referring to FIG. 25A, when the sun gear 430 rotates counterclockwise,the first planet gear 442 and the second planet gear 462 may rotateclockwise. Further, the first planet gear 442 and the second planet gear462 may revolve counterclockwise according to the counterclockwiserotation of the sun gear 430. Thus, the first carrier and the secondcarrier 464 may rotate counterclockwise.

When the number of teeth of the first ring gear 446 is smaller than thenumber of teeth of the second ring gear 466, a first gear ratio N1 maybe smaller than a second gear ratio N2. Thus, the first carrier 444 mayrotate at a faster angular velocity than the second carrier 464. Thefirst carrier 444 and the second carrier 464 may have different angularvelocities. Accordingly, the first pulley 448 and the second pulley 468may have different angular velocities.

Thus, as shown in FIG. 25B, an angle between the first supporting module50 and the second supporting module 70 may increase. The firstsupporting module 50 and the second supporting module 70 may moveforward.

Conversely, when the sun gear 430 rotates clockwise, the firstsupporting module 50 and the second supporting module 70 may movebackward.

In a state as shown in FIG. 25B, a user may apply a load for lifting anupper body of the user to the first decelerator 440 and the seconddecelerator 460 for upright walking. Hereinafter, descriptions will beprovided with reference to FIGS. 26A and 26B.

FIGS. 26A and 26B are views illustrating operations of the drivingmodule 400, the first supporting module 50, and the second supportingmodule 70, as illustrated in FIG. 23 , when power of the driving source420 is applied according to an example embodiment. In particular, FIG.26A illustrates operations of the first decelerator 440 and the seconddecelerator 460, and FIG. 26B illustrates operations of the firstsupporting module 50 and the second supporting module 70.

Referring to FIG. 26A, when a user applies a load for lifting an upperbody of the user to the first decelerator 440 and the second decelerator460 in a state in which power of the driving source 420 is applied, thefirst ring gear 446 and the second ring gear 466 may rotate.

When the user walks upright, the first ring gear 446 and the second ringgear 466 may rotate so that a rotation direction of the first carrier444 may be opposite to a rotation direction of the second carrier 464.Thus, the first pulley 448 connected to the first carrier 444 and thesecond pulley 468 connected to the second carrier 464 may rotate inopposite directions.

Thus, when the sun gear 430 rotates counterclockwise, the firstsupporting module 50 may move forward, and the second supporting module70 may move backward, as shown in FIG. 24B.

Conversely, when the sun gear 430 rotates clockwise, the firstsupporting module 50 may move backward, and the second supporting module70 may move forward.

The controller 30 of FIG. 24 may alternately change a rotation directionof the sun gear 430, thereby assisting a walking motion of the user.

FIGS. 27A and 27B are views illustrating operations of the drivingmodule 400, the first supporting module 50, and the second supportingmodule 70, as illustrated in FIG. 23 , when power of the driving source420 is blocked according to an example embodiment. In particular, FIG.27A illustrates operations of the first decelerator 440 and the seconddecelerator 460, and FIG. 27B illustrates operations of the firstsupporting module 50 and the second supporting module 70.

Referring to FIG. 27A, when a user applies a load for bending an upperbody of the user to the first decelerator 440 and the second decelerator460 in a state in which the driving source 420 is powered off, the firstsupporting module 50 and the second supporting module 70 may transmitloads of identical directions to the first pulley 448 and the secondpulley 468.

In this example, the first carrier 444, the second carrier 464, thefirst planet gear 442, the second planet gear 462, the first ring gear446, the second ring gear 466, and the sun gear 430 may perform a singlerigid body motion. The first carrier 444, the second carrier 464, thefirst planet gear 442, the second planet gear 462, the first ring gear446, the second ring gear 466, and the sun gear 430 may have identicalrotation velocities.

Thus, as shown in FIG. 27B, the user may freely perform a sitting-downmotion without receiving the load by the driving source 420.

Conversely, when the user applies a load for lifting the upper body ofthe user to the first decelerator 440 and the second decelerator 460 ina state in which the driving source 420 is powered off, the user mayfreely perform a standing-up motion without receiving the load by thedriving source 420.

The user may apply a load for bending the upper body of the user to thefirst decelerator 440 and the second decelerator 460 in a state in whichthe driving source 420 is held. For example, because the sun gear 430 isfixed, the first carrier 444 and the second carrier 464 may rotate atdifferent angular velocities with respect to the sun gear 430. Further,as shown in FIG. 25B, the first supporting module 50 and the secondsupporting module 70 may move in identical directions to be spaced apartfrom each other. Through the foregoing process, the user may perform thesitting-down motion.

In this example, by enabling a ratio of a third gear ratio N3 betweenthe first pulley 448 and the first joint assembly 42 to a fourth gearratio N4 between the second pulley 468 and the second joint assembly 62to be equal to an inverse number of a ratio of a first gear ratio N1 toa second gear ratio N2, the first supporting module 50 and the secondsupporting module 70 may be mitigated or prevented from being spacedapart from each other while the user is sitting down.

As another method, by reducing a difference between the first gear ratioN1 and the second gear ratio N2, an angle at which the first supportingmodule 50 and the second supporting module 70 are to be spaced apartfrom each other while the user is sitting down may be reduced. Thus,even when the difference between the first gear ratio N1 and the secondgear ratio N2 is relatively small, the first supporting module 50 andthe second supporting module 70 may secure an angular velocitysufficient for a walking motion using the driving source 420 having ahigh RPM value.

The three motion states described above may be arranged as shown inTable 4.

TABLE 4 Motion state Driving source/Sun Gear Walking First supportingmodule ON/Clockwise forward/Second supporting module backward Firstsupporting module ON/Counterclockwise backward/Second supporting moduleforward Sitting-down/Standing-up (i) OFF/Not holding or not engaging thedriving source (ii) ON/Holding or engaging the driving source

The controller 30 may include a processor and a memory (not shown). Thecontroller 30 may be an arithmetic logic unit, a digital signalprocessor, a microcomputer, a field programmable array, a programmablelogic unit, a microprocessor or any other device capable of respondingto and executing instructions in a defined manner such that thecontroller 30 is programmed with instructions that configure theprocessing device as a special purpose computer and is configured tocontrol at least the driving module 90 to transmit power to the firstsupporting module 50 and the second supporting module 70.

The instructions may be stored on a non-transitory computer readablemedium. Examples of non-transitory computer-readable media includemagnetic media such as hard disks, floppy disks, and magnetic tape;optical media such as CD ROM discs and DVDs; magneto-optical media suchas optical discs; and hardware devices that are specially configured tostore and perform program instructions, such as read-only memory (ROM),random access memory (RAM), flash memory, and the like. Thenon-transitory computer-readable media may also be a distributednetwork, so that the program instructions are stored and executed in adistributed fashion. The program instructions may be executed by one ormore processors.

Although a few example embodiments have been described, those skilled inthe art will readily appreciate that many modifications are possible inthe example embodiments without materially departing from the novelteachings and advantages of example embodiments. Accordingly, all suchmodifications are intended to be included within the scope of exampleembodiments as defined in the claims. For example, suitable results maybe achieved if the described techniques are performed in a differentorder and/or if components in a described system, architecture, device,or circuit are combined in a different manner and/or replaced orsupplemented by other components or their equivalents. In the claims,means-plus-function clauses are intended to cover the structuresdescribed herein as performing the recited function and not onlystructural equivalents but also equivalent structures. Therefore, it isto be understood that the foregoing is illustrative of various exampleembodiments and is not to be construed as limited to the specificexample embodiments disclosed, and that modifications to the disclosedexample embodiments, as well as other example embodiments, are intendedto be included within the scope of the appended claims.

What is claimed is:
 1. A motion assistance apparatus comprising: afixing member configured to be fixed to a user; a driving module on oneside of the fixing member, the driving module including, a drivingsource configured to transmit power, a first decelerator configured tooperate based on the power received from the driving source, and asecond decelerator configured to operate based on the power receivedfrom the driving source; a first joint member and a second joint memberconfigured to assist respective rotary motions; a first powertransmitting member configured to transmit the power between an outputterminal of the first decelerator and the first joint member; a secondpower transmitting member configured to transmit the power between anoutput terminal of the second decelerator and the second joint member;and a stopper module configured to selectively enable or disable atransmission of the power between the driving source and at least one ofthe first joint member and the second joint member, wherein the firstdecelerator comprises a first planet gear connected to the drivingsource, a first ring gear connected to the first planet gear, and afirst pulley configured to act as the output terminal of the firstdecelerator and be wound by the first power transmitting member, and thesecond decelerator comprises a second planet gear connected to thedriving source, a second ring gear connected to the second planet gear,and a second pulley configured to act as the output terminal of thesecond decelerator and be wound by the second power transmitting member.2. The motion assistance apparatus of claim 1, wherein the stoppermodule comprises: a first stopper configured to be engaged with aportion of the first decelerator and configured to selectively enable ordisable the transmission of the power between the driving source and thefirst power transmitting member; and a second stopper configured to beengaged with a portion of the second decelerator and configured toenable or disable the transmission of the power between the drivingsource and the second power transmitting member.
 3. The motionassistance apparatus of claim 2, wherein the first power transmittingmember and the second power transmitting member are asymmetricallyprovided to each other with respect to the driving module.
 4. The motionassistance apparatus of claim 3, wherein when seeing from respectivesides of the motion assistance apparatus, the first power transmittingmember is provided in an overlapping manner between the first pulley andthe first joint member to enable the first pulley and the first jointmember to have opposite rotation directions, and the second powertransmitting member is provided in a non-overlapping manner between thesecond pulley and the second joint member to enable the second pulleyand the second joint member to have identical rotation directions. 5.The motion assistance apparatus of claim 3, wherein the first pulley isconnected to a first carrier of the first decelerator and is configuredto rotate when the first carrier rotates, and the second pulley iscoupled to a second carrier of the second decelerator and is configuredto rotate when the second carrier rotates, the first stopper isselectively connected to the first ring gear to enable or disable arotation of the first ring gear, and the second stopper is selectivelyengaged with the second ring gear to enable or disable rotation of thesecond ring gear.
 6. The motion assistance apparatus of claim 3, whereinthe first pulley is connected to the first ring gear and configured torotate when the first ring gear rotates, the second pulley is coupledwith the second ring gear and configured to rotate when the second ringgear rotates, and the first stopper is selectively connected to a firstcarrier of the first decelerator, to enable or disable a rotation of thefirst carrier, and the second stopper is selectively coupled with asecond carrier of the second decelerator to enable or disable a rotationof the second carrier.
 7. The motion assistance apparatus of claim 2,wherein the first pulley and the first ring gear is configured toperform a single rigid body motion, the first stopper is selectivelyconnected to a first carrier of the first decelerator and is configuredto enable or disable a rotation of the first carrier, the second pulleyand a second carrier of the second decelerator is configured to performa single rigid body motion, and the second stopper is selectivelyconnected to the second carrier and is configured to enable or disable arotation of the second carrier.
 8. A motion assistance apparatuscomprising: a fixing member configured to be fixed to a user; a drivingmodule on one side of the fixing member, the driving module including, adriving source configured to transmit driving power, a first deceleratorconfigured to operate using the driving power received from the drivingsource, and a second decelerator configured to operate using the drivingpower received from the driving source, a first supporting member and asecond supporting member configured to support a first portion of theuser and a second portion of the user, respectively; a first powertransmitting member configured to transmit a first power between anoutput terminal of the first decelerator and the first supportingmember; a second power transmitting member configured to transmit asecond power between an output terminal of the second decelerator andthe second supporting member; and a stopper configured to enable ordisable at least one of a transmission of the first power between thedriving source and the first supporting member and a transmission of thesecond power between the driving source and the second supportingmember, wherein the first decelerator comprises a first planet gearconnected to the driving source, a first ring gear connected to thefirst planet gear, and a first pulley configured to act as the outputterminal of the first decelerator and be wound by the first powertransmitting member, and the second decelerator comprises a secondplanet gear connected to the driving source, a second ring gearconnected to the second planet gear, and a second pulley configured toact as the output terminal of the second decelerator and be wound by thesecond power transmitting member.
 9. A method of controlling a motionassistance apparatus including a fixing member configured to be fixed toa user, a driving source, and a first joint member and a second jointmember configured to assist, based on power from the driving source,respective rotary motions, the method comprising: transmitting the powerto a first decelerator and a second decelerator connected to the drivingsource by rotating the driving source in one direction, the firstdecelerator comprising a first planet gear connected to the drivingsource, a first ring gear connected to the first planet gear, and afirst pulley configured to act as an output terminal of the firstdecelerator and be wound by a first power transmitting member, thesecond decelerator comprising a second planet gear connected to thedriving source, a second ring gear connected to the second planet gear,and a second pulley configured to act as an output terminal of thesecond decelerator and be wound by a second power transmitting member;selectively connecting a first stopper to a portion of the firstdecelerator to enable or disable a transmission of rotary power betweenthe driving source and the first joint member; and selectivelyconnecting a second stopper to a portion of the second decelerator toenable or disable a transmission of rotary power between the drivingsource and the second joint member.
 10. The method of claim 9, whereinthe selectively connecting a first stopper and the selectivelyconnecting a second stopper are alternately performed.
 11. The method ofclaim 9, wherein the selectively connecting a first stopper and theselectively connecting a second stopper are simultaneously performed.12. The method of claim 9, further comprising: separating the firststopper from the portion of the first decelerator; and separating thesecond stopper from the portion of the second decelerator, wherein theseparating of the first stopper and the separating of the second stopperare simultaneously performed.